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   <div id="projectname">GSoC2011SfM
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">Google Summer of Code 2011: Structure from motion</div>
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      <li class="navelem"><b>OpencvSfM</b>      </li>
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<!-- doxytag: class="OpencvSfM::EuclideanEstimator" -->
<p>This class perform a projective estimation of the motion. Given points matches and cameras with intra parameters, it tries to find the best cameras positions and 3D points. Does not perform a bundle ajustement!  
 <a href="class_opencv_sf_m_1_1_euclidean_estimator.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_euclidean_estimator_8h_source.html">EuclideanEstimator.h</a>&gt;</code></p>

<p><a href="class_opencv_sf_m_1_1_euclidean_estimator-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#ad0a71587b4ad3ffa445db2a03aacbb31">EuclideanEstimator</a> (<a class="el" href="class_opencv_sf_m_1_1_sequence_analyzer.html">SequenceAnalyzer</a> &amp;sequence, std::vector&lt; <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a> &gt; &amp;cameras)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a4fc02c7a735abdb3985fc6439cd06f05">~EuclideanEstimator</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a9cde85fe09d8dfb249a1c99ad8948e18">addNewPointOfView</a> (const <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a> &amp;camera)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a0c70610dd045f2526547682ef096cba4">computeReconstruction</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a9790538fdb197f1cebd4f9f26f85b975">bundleAdjustement</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#aebf9a3c922dd816828bcbb3a6bc6df29">viewEstimation</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a99b28486f11bc31a1d8b2b52ad3550a5">initialReconstruction</a> (int image1, int image2)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#ae9b18130f68de37ae8385e01426ee82f">cameraResection</a> (unsigned int image)</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a18a1079d31b360865cf58088f71e7a36"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::point_computed_" ref="a18a1079d31b360865cf58088f71e7a36" args="" -->
std::vector&lt; <a class="el" href="class_opencv_sf_m_1_1_track_of_points.html">TrackOfPoints</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a18a1079d31b360865cf58088f71e7a36">point_computed_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">list of 3D points computed <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a678b38f149b13435499e5e3f8bc83ca3"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::camera_computed_" ref="a678b38f149b13435499e5e3f8bc83ca3" args="" -->
std::vector&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a678b38f149b13435499e5e3f8bc83ca3">camera_computed_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">List of camera computed. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4f7ae927e99fdb0b6bb3125208aa1663"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::index_origin" ref="a4f7ae927e99fdb0b6bb3125208aa1663" args="" -->
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a4f7ae927e99fdb0b6bb3125208aa1663">index_origin</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">index of camera set as origin... <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a434eb8f3da74122c2dd7fd323569a629"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::intra_params_" ref="a434eb8f3da74122c2dd7fd323569a629" args="" -->
libmv::vector&lt; libmv::Mat3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a434eb8f3da74122c2dd7fd323569a629">intra_params_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Intra parameters of cameras (don't use them, they are strongly related to cameras_ attribut! <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4649831fdd99cb15be351928dc69213b"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::rotations_" ref="a4649831fdd99cb15be351928dc69213b" args="" -->
libmv::vector&lt; libmv::Mat3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a4649831fdd99cb15be351928dc69213b">rotations_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">rotations matrix of cameras (don't use them, they are strongly related to cameras_ attribut! <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5b5ca96b398aad275d7ffd79c492d9ed"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::translations_" ref="a5b5ca96b398aad275d7ffd79c492d9ed" args="" -->
libmv::vector&lt; libmv::Vec3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a5b5ca96b398aad275d7ffd79c492d9ed">translations_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">translation vectors of cameras (don't use them, they are strongly related to cameras_ attribut! <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adcf96ff6971f5ccd6c77c83c8e76e7e9"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::cameras_" ref="adcf96ff6971f5ccd6c77c83c8e76e7e9" args="" -->
std::vector&lt; <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#adcf96ff6971f5ccd6c77c83c8e76e7e9">cameras_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">List of cameras (intra and extern parameters...) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6b9217240500126545a9b3696f9bdcbe"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::sequence_" ref="a6b9217240500126545a9b3696f9bdcbe" args="" -->
<a class="el" href="class_opencv_sf_m_1_1_sequence_analyzer.html">SequenceAnalyzer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html#a6b9217240500126545a9b3696f9bdcbe">sequence_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Object containing all 2D information of this sequence. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class perform a projective estimation of the motion. Given points matches and cameras with intra parameters, it tries to find the best cameras positions and 3D points. Does not perform a bundle ajustement! </p>
<p>As this class use a lot of libmv functions, the data members are using libmv structures... </p>

<p>Definition at line <a class="el" href="_euclidean_estimator_8h_source.html#l00023">23</a> of file <a class="el" href="_euclidean_estimator_8h_source.html">EuclideanEstimator.h</a>.</p>
</div><hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="ad0a71587b4ad3ffa445db2a03aacbb31"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::EuclideanEstimator" ref="ad0a71587b4ad3ffa445db2a03aacbb31" args="(SequenceAnalyzer &amp;sequence, std::vector&lt; PointOfView &gt; &amp;cameras)" -->
<div class="memitem">
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          <td class="memname">OpencvSfM::EuclideanEstimator::EuclideanEstimator </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_opencv_sf_m_1_1_sequence_analyzer.html">SequenceAnalyzer</a> &amp;&#160;</td>
          <td class="paramname"><em>sequence</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cameras</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Construct an euclidean estimator using a sequence of 2D points matches and a list of camera guess (intra parameters should be known!) </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">sequence</td><td>Object containing all 2D information of this sequence </td></tr>
    <tr><td class="paramname">cameras</td><td>List of cameras (intra (and extern if available) parameters...) </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_euclidean_estimator_8cpp_source.html#l00114">114</a> of file <a class="el" href="_euclidean_estimator_8cpp_source.html">EuclideanEstimator.cpp</a>.</p>

</div>
</div>
<a class="anchor" id="a4fc02c7a735abdb3985fc6439cd06f05"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::~EuclideanEstimator" ref="a4fc02c7a735abdb3985fc6439cd06f05" args="(void)" -->
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          <td class="memname">OpencvSfM::EuclideanEstimator::~EuclideanEstimator </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td><code> [virtual]</code></td>
        </tr>
      </table>
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<div class="memdoc">
<p>Destructor of <a class="el" href="class_opencv_sf_m_1_1_euclidean_estimator.html" title="This class perform a projective estimation of the motion. Given points matches and cameras with intra...">EuclideanEstimator</a> </p>

<p>Definition at line <a class="el" href="_euclidean_estimator_8cpp_source.html#l00127">127</a> of file <a class="el" href="_euclidean_estimator_8cpp_source.html">EuclideanEstimator.cpp</a>.</p>

</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a9cde85fe09d8dfb249a1c99ad8948e18"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::addNewPointOfView" ref="a9cde85fe09d8dfb249a1c99ad8948e18" args="(const PointOfView &amp;camera)" -->
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      <table class="memname">
        <tr>
          <td class="memname">void OpencvSfM::EuclideanEstimator::addNewPointOfView </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a> &amp;&#160;</td>
          <td class="paramname"><em>camera</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Add a new camera to the estimator </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">camera</td><td>new point of view to add for reconstruction </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_euclidean_estimator_8cpp_source.html#l00132">132</a> of file <a class="el" href="_euclidean_estimator_8cpp_source.html">EuclideanEstimator.cpp</a>.</p>

<p>Referenced by <a class="el" href="_euclidean_estimator_8cpp_source.html#l00114">EuclideanEstimator()</a>.</p>

</div>
</div>
<a class="anchor" id="a9790538fdb197f1cebd4f9f26f85b975"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::bundleAdjustement" ref="a9790538fdb197f1cebd4f9f26f85b975" args="()" -->
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          <td class="memname">void OpencvSfM::EuclideanEstimator::bundleAdjustement </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Run a bundle adjustment using every computed cameras and every computed 3D points </p>

<p>Definition at line <a class="el" href="_euclidean_estimator_8cpp_source.html#l00148">148</a> of file <a class="el" href="_euclidean_estimator_8cpp_source.html">EuclideanEstimator.cpp</a>.</p>

<p>Referenced by <a class="el" href="_euclidean_estimator_8cpp_source.html#l00744">computeReconstruction()</a>.</p>

</div>
</div>
<a class="anchor" id="ae9b18130f68de37ae8385e01426ee82f"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::cameraResection" ref="ae9b18130f68de37ae8385e01426ee82f" args="(unsigned int image)" -->
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          <td class="memname">bool OpencvSfM::EuclideanEstimator::cameraResection </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>image</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Find the position of a new camera </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">image</td><td>index of the wanted camera </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_euclidean_estimator_8cpp_source.html#l00452">452</a> of file <a class="el" href="_euclidean_estimator_8cpp_source.html">EuclideanEstimator.cpp</a>.</p>

<p>Referenced by <a class="el" href="_euclidean_estimator_8cpp_source.html#l00744">computeReconstruction()</a>.</p>

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</div>
<a class="anchor" id="a0c70610dd045f2526547682ef096cba4"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::computeReconstruction" ref="a0c70610dd045f2526547682ef096cba4" args="()" -->
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          <td class="memname">void OpencvSfM::EuclideanEstimator::computeReconstruction </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>comptue cameras and structure if intra parameters are known. </p>

<p>Definition at line <a class="el" href="_euclidean_estimator_8cpp_source.html#l00744">744</a> of file <a class="el" href="_euclidean_estimator_8cpp_source.html">EuclideanEstimator.cpp</a>.</p>

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<a class="anchor" id="a99b28486f11bc31a1d8b2b52ad3550a5"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::initialReconstruction" ref="a99b28486f11bc31a1d8b2b52ad3550a5" args="(int image1, int image2)" -->
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          <td class="memname">void OpencvSfM::EuclideanEstimator::initialReconstruction </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>image1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>image2</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
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<p>Create a new Euclidean reconstruction using matches between two images </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">image1</td><td>index of the first image </td></tr>
    <tr><td class="paramname">image2</td><td>index of the second image </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_euclidean_estimator_8cpp_source.html#l00652">652</a> of file <a class="el" href="_euclidean_estimator_8cpp_source.html">EuclideanEstimator.cpp</a>.</p>

<p>Referenced by <a class="el" href="_euclidean_estimator_8cpp_source.html#l00744">computeReconstruction()</a>.</p>

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<a class="anchor" id="aebf9a3c922dd816828bcbb3a6bc6df29"></a><!-- doxytag: member="OpencvSfM::EuclideanEstimator::viewEstimation" ref="aebf9a3c922dd816828bcbb3a6bc6df29" args="()" -->
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          <td class="memname">void OpencvSfM::EuclideanEstimator::viewEstimation </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Show this estimation </p>

<p>Definition at line <a class="el" href="_euclidean_estimator_8cpp_source.html#l00868">868</a> of file <a class="el" href="_euclidean_estimator_8cpp_source.html">EuclideanEstimator.cpp</a>.</p>

<p>Referenced by <a class="el" href="_euclidean_estimator_8cpp_source.html#l00744">computeReconstruction()</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/<a class="el" href="_euclidean_estimator_8h_source.html">EuclideanEstimator.h</a></li>
<li>D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/<a class="el" href="_euclidean_estimator_8cpp_source.html">EuclideanEstimator.cpp</a></li>
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